KR20080099749A - Working device control apparatus and control method of excavator - Google Patents

Working device control apparatus and control method of excavator Download PDF

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Publication number
KR20080099749A
KR20080099749A KR1020070045709A KR20070045709A KR20080099749A KR 20080099749 A KR20080099749 A KR 20080099749A KR 1020070045709 A KR1020070045709 A KR 1020070045709A KR 20070045709 A KR20070045709 A KR 20070045709A KR 20080099749 A KR20080099749 A KR 20080099749A
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KR
South Korea
Prior art keywords
bucket
boom
arm
angle sensor
detecting
Prior art date
Application number
KR1020070045709A
Other languages
Korean (ko)
Inventor
강순주
Original Assignee
볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 filed Critical 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비
Priority to KR1020070045709A priority Critical patent/KR20080099749A/en
Publication of KR20080099749A publication Critical patent/KR20080099749A/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

A work equipment control apparatus of excavator is provided to prevent overturning of the equipment since the turning speed of top turning member is decelerated. A work equipment control apparatus of excavator comprises a base carrier(1), a top turning member mounted on the base carrier, a cabin cap and an engine room mounted at the front and rear part of the top turning member, a work equipment(11) including a boom, an arm and bucket mounted on the top turning member, a boom angle sensor(15) detecting the rotation angle amount of boom and outputs the detection signal, an arm angle sensor(16) detecting the relative rotation angle amount of arm and outputs the detection signal, a bucket angle sensor(17) detecting the relative rotation angle amount of bucket and outputs the detection signal, a controller(19) which outputs the control signal in order to decelerate the turning speed in the driving part of the top turning member.

Description

Working device control apparatus and control method of excavator

1 is a schematic view of a typical excavator,

Figure 2 is a schematic diagram showing a work device control apparatus for an excavator according to an embodiment of the present invention,

3 is a flowchart illustrating a method for controlling a work device of an excavator according to an embodiment of the present invention.

* Explanation of symbols used in the main part of the drawing

One; Undercarriage

3; Cab

5; Boom cylinder

7; Arm cylinder

9; Bucket cylinder

11; Work equipment

13; Turning center

15; Boom Angle Sensor

17; Bucket Angle Sensor

19; Controller (CPU)

The present invention detects each joint position of the work device during operation, even when the upper swing body is rotated, or even when the joint angle is changed, the working device control device and control method of the excavator to allow the bucket to work while maintaining a predetermined distance from the center of rotation It is about.

More specifically, the control device and control device of the excavator working to prevent the overturning of the equipment by reducing the turning speed of the upper swing body when the bucket applied to the load is out of the predetermined distance from the center of swing according to the working conditions It is about a method.

As shown in Figure 1, the general excavator, the lower running body (1),

An upper swinging structure (2) rotatably mounted on the lower traveling body (1),

Cab cap (3) and engine compartment (4) mounted to the front and rear of the upper swing structure (2),

A bucket 10 mounted to the upper swinging structure 2 and driven by a boom cylinder 5, an boom 6 driven by an arm cylinder 7, an arm 8 driven by an arm cylinder 7, and a bucket cylinder 9. And working apparatus 11, including,

It is mounted to the rear of the upper swing structure (2) comprises a counterweight (12) to balance the equipment.

In the state where the upper swinging structure 2 is turned during operation or the joint angle of the work device 11 is changed so that the bucket 10 is out of the predetermined predetermined distance L from the pivoting center 13 to the bucket center 14. When the upper swinging structure 2 is sharply turned, the load applied to the bucket 10 may cause an accident that the equipment is unbalanced and overturned. Due to the rollover accident, there is a problem that can cause a safety accident in which the worker working in the turning radius of the equipment is injured.

An embodiment of the present invention, by detecting the position of each joint of the work device during operation, if the bucket applied to the load is out of the predetermined distance from the center of swing, the speed of rotation of the upper swing body is reduced to prevent the equipment from losing balance and overturning And a work device control device and a control method of the excavator, which can prevent the worker working in the turning radius of the equipment from being injured.

Excavator working device control apparatus according to an embodiment of the present invention, the lower running body,

An upper swing body rotatably mounted on the lower travel body,

Cab cap and engine compartment mounted on the front and rear of the upper swing body,

A work tool including a boom, an arm and a bucket mounted to the upper swing structure,

A boom angle sensor which detects the rotation angle of the boom and outputs a detection signal;

An arm angle sensor for detecting a relative rotation angle of an arm rotated relative to the boom and outputting a detection signal;

A bucket angle sensor for detecting a relative rotation angle of the bucket rotated relative to the arm and outputting a detection signal;

When the actual distance value exceeds the reference value by comparing the detected actual distance value from the turning center to the bucket center by the detection signal input from the boom, arm and bucket angle sensors, the driving part of the upper swing body And a controller for outputting a control signal to slow down the revolution speed.

If the actual distance value detected by the detection signal input from the above-described boom, arm and bucket angle sensor exceeds the reference value, the warning signal generating unit for sending a warning signal to the driver of the driver's seat further includes.

According to an embodiment of the present invention, a method for controlling a work device of an excavator includes: detecting a rotation angle of a boom by a boom angle sensor; detecting a relative rotation angle of an arm by an arm angle sensor; and detecting a relative angle of a bucket by a bucket angle sensor. A first step of detecting the rotation angle;

A second step of calculating an actual distance value from the pivot center to the bucket center by processing the detection signal input from the boom, the arm and the bucket angle sensors;

A third step of determining whether the bucket maintains the predetermined distance by comparing the actual distance value detected in the second step with a preset reference value;

And a fourth step of outputting a control signal to decelerate the revolution speed when the actual distance value detected in the second step exceeds the reference value.

If the actual distance value detected in the second step exceeds the reference value, and further comprises a fifth step of sending a warning signal to the driver of the driver's seat.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to describe in detail enough to enable those skilled in the art to easily practice the present invention. It is not intended that the technical spirit and scope of the invention be limited.

As shown in Figure 2, the working device control apparatus of the excavator according to an embodiment of the present invention, the lower running body (1),

An upper swinging structure (2) rotatably mounted on the lower traveling body (1),

Cab cap (3) and engine compartment (4) mounted to the front and rear of the upper swing structure (2),

A work device 11 including a boom 6, an arm 8 and a bucket 10 mounted to the upper swinging structure 2,

A boom angle sensor 15 installed at a joint portion of the boom 6 rotatably mounted to the upper swinging structure 2 and detecting a rotation angle of the boom 6 and outputting a detection signal;

Arm angle sensor which is installed on the joint part of the arm 8 rotatably mounted to the boom 6 and detects the relative rotation angle of the arm 8 which is rotated relative to the boom 6 and outputs a detection signal. With 16,

Bucket angle sensor is installed on the joint portion of the bucket (10) rotatably connected to the arm (8), the bucket angle sensor for detecting the relative rotation angle of the bucket (10) rotated relative to the arm (8) and outputs a detection signal With 17,

By comparing the actual reference value L detected from the turning center 13 to the bucket center 14 by the detection signals input from the boom, arm and bucket angle sensors 15, 16, 17, If the actual distance value L exceeds the reference value, the controller 19 outputs a control signal to decelerate the turning speed to the driving unit 18 (drive section for driving the turning motor) for turning the upper swing body 2. (CPU).

If the actual distance value L detected by the detection signal input from the boom, arm and bucket angle sensors 15, 16, 17 exceeds the reference value, a warning signal is generated by sending a warning signal to the driver of the driver's seat. The unit 20 may further include a cluster, a buzzer, and the like.

At this time, the configuration except for the above-described boom, arm and bucket angle sensor (15, 16, 17), the controller 19 is applied substantially the same as that shown in Figure 1, so their detailed description is omitted, overlapping Reference numerals are the same.

As shown in FIG. 3, in the method for controlling a work device of an excavator according to an embodiment of the present invention, the angle of rotation of the boom 6 is detected by the boom angle sensor 15, and by the arm angle sensor 16. A first step S100 of detecting the relative rotation angle of the arm 8 and detecting the relative rotation angle of the bucket 10 by the bucket angle sensor 17;

A second step of detecting the actual distance value L from the pivot center 13 to the bucket center 14 by arithmetic processing of the detection signals input from the boom, arm and bucket angle sensors 15, 16 and 17 ( S200),

A third step S300 of determining whether the bucket 10 maintains the predetermined distance by comparing the actual distance value L detected in the second step S200 with a preset reference value;

If the actual distance value L detected in the second step (S200) exceeds the reference value, the fourth step of outputting a control signal to reduce the turning speed to the drive unit 18 for turning the upper swing body (2) (S400),

If the actual distance value (L) detected in the second step (S200) exceeds the reference value, the fifth step of notifying the driver of the driver's seat by sending a warning signal through the warning signal generation unit 20 (cluster, buzzer) ( S500) may be further included.

Hereinafter, with reference to the accompanying drawings, a method for controlling a work device of an excavator according to an embodiment of the present invention.

2 and 3, the rotation angle of the boom 6 is detected by the boom angle sensor 15 provided at the joint portion of the boom 5 during operation, and the arm installed at the joint portion of the arm 8. The angle of rotation of the arm 8 relative to the boom 6 is detected by the angle sensor 16 and the bucket to the arm 8 by the bucket angle sensor 17 installed at the joint of the bucket 10. The relative rotation angle of (10) is detected (see S100).

The detection signals detected by the boom angle sensor 15, the arm angle sensor 16 and the bucket angle sensor 17 are converted into electrical signals and input to the controller 19, respectively.

In this case, the boom angle sensor 15, the arm angle sensor 16, and the bucket angle sensor 17 may be resolvers, potentiometers, encoders, stroke sensing cylinders, and the like. Detailed descriptions thereof will be omitted.

The detection signal input to the controller 19 from the boom, arm and bucket angle sensors 15, 16 and 17 is processed (see S200). That is, the actual distance value L from the turning center 13 to the bucket center 14 is continuously measured during the excavation work by driving the bucket 10.

In a second step (S200), the actual distance value L measured from the pivot center 13 to the bucket center 14 is compared with a preset reference value to determine whether the bucket 10 maintains the predetermined distance. (See S300).

When the actual distance value L measured in the second step S200 exceeds the reference value, a control signal is output to the driving unit 18 for turning the upper swing body 2 so as to reduce the turning speed (see S400). ). This is due to the rapid turning of the upper swing structure (2) in the case of turning the bucket 10 when the upper swing structure (2) is rotated while the load is applied, or when the center of gravity of the equipment is moved to one side due to the change of the joint angle It is possible to prevent the rollover of the generated equipment in advance.

If the actual distance value L calculated by the detection signal input from the boom, arm and bucket angle sensors 15, 16, 17 in the second step (see S200) exceeds the reference value, the driver of the driver's seat is alerted. It sends a warning signal through the signal generator 20 (cluster, buzzer) (see S500). That is to warn the driver of the working conditions of the current work device 11 to raise the safety awareness to respond in advance to the occurrence of safety accidents.

Therefore, depending on the working condition, the upper swinging structure 2 is rotated while the load is applied to the bucket 10, or the joint angle is changed so that a predetermined distance from the pivoting center 13 to the bucket center 14 is set to the set value. If exceeded, the turning speed of the upper swinging body (2) is reduced to prevent the rollover of the equipment. It also transmits a warning signal to the driver in the driver's seat so that safety work can be performed according to the current working conditions of the work device.

As described above, the working device control apparatus and control method of the excavator according to the embodiment of the present invention has the following advantages.

Detects the position of each joint of the work device during operation, and if the loaded bucket is out of the predetermined distance from the center of swing, the rotation speed of the upper swing body is reduced to prevent the equipment from overturning, and a warning sound is generated to overturn the equipment. Protect workers from accidents.

Claims (4)

Undercarriage; An upper swing structure pivotally mounted on the lower travel body; An cab and an engine compartment mounted at the front and rear of the upper swing structure, respectively; A working device including a boom, an arm, and a bucket mounted to the upper swing body; A boom angle sensor which detects a rotation angle of the boom and outputs a detection signal; An arm angle sensor for detecting a relative rotation angle of an arm that is rotated relative to the boom and outputting a detection signal; A bucket angle sensor for detecting a relative rotation angle of the bucket which is rotated relative to the arm and outputting a detection signal; And When the actual distance value exceeds the reference value by comparing the detected real distance value from the pivot center to the bucket center with a preset reference value by the detection signal input from the boom, arm and bucket angle sensors, And a controller for outputting a control signal to decelerate the revolution speed in the drive unit. The method of claim 1, further comprising a warning signal generating unit for transmitting a warning signal to the driver of the driver's seat when the actual distance value detected by the detection signal input from the boom, the arm and the bucket angle sensors exceeds a reference value. Excavator working device control, characterized in that. Detecting a rotation angle of the boom by the boom angle sensor, detecting a relative rotation angle of the arm by the arm angle sensor, and detecting a relative rotation angle of the bucket by the bucket angle sensor; A second step of calculating an actual distance value from a pivot center to a bucket center by arithmetic processing of detection signals input from the boom, arm and bucket angle sensors; A third step of determining whether the bucket maintains the predetermined distance by comparing the actual distance value detected in the second step with a preset reference value; And And a fourth step of outputting a control signal to reduce the turning speed to the driving unit of the upper swing body when the actual distance value detected in the second step exceeds the reference value. Way. The method according to claim 3, further comprising a fifth step of sending a warning signal to the driver of the driver's seat when the actual distance value detected in the second step exceeds the reference value.
KR1020070045709A 2007-05-10 2007-05-10 Working device control apparatus and control method of excavator KR20080099749A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012008627A1 (en) * 2010-07-13 2012-01-19 볼보 컨스트럭션 이큅먼트 에이비 Swing control apparatus and method of construction machinery
CN103938671A (en) * 2013-04-10 2014-07-23 常州华达科捷光电仪器有限公司 Excavator guiding system and method
KR20150066855A (en) 2013-12-09 2015-06-17 두산인프라코어 주식회사 Apparatus and method for controlling safety of construction machinery
KR20180002100A (en) * 2016-06-28 2018-01-08 울산대학교 산학협력단 Apparatus and controling method of lighting for excavator
CN108291385A (en) * 2015-12-18 2018-07-17 住友重机械工业株式会社 Excavator and its control method
CN117449371A (en) * 2023-12-25 2024-01-26 山西太重数智科技股份有限公司 Intelligent electric shovel attitude adjusting control system and method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012008627A1 (en) * 2010-07-13 2012-01-19 볼보 컨스트럭션 이큅먼트 에이비 Swing control apparatus and method of construction machinery
CN102985622A (en) * 2010-07-13 2013-03-20 沃尔沃建造设备有限公司 Swing control apparatus and method of construction machinery
US9008919B2 (en) 2010-07-13 2015-04-14 Volvo Construction Equipment Ab Swing control apparatus and method of construction machinery
CN103938671A (en) * 2013-04-10 2014-07-23 常州华达科捷光电仪器有限公司 Excavator guiding system and method
KR20150066855A (en) 2013-12-09 2015-06-17 두산인프라코어 주식회사 Apparatus and method for controlling safety of construction machinery
CN108291385A (en) * 2015-12-18 2018-07-17 住友重机械工业株式会社 Excavator and its control method
KR20180002100A (en) * 2016-06-28 2018-01-08 울산대학교 산학협력단 Apparatus and controling method of lighting for excavator
CN117449371A (en) * 2023-12-25 2024-01-26 山西太重数智科技股份有限公司 Intelligent electric shovel attitude adjusting control system and method
CN117449371B (en) * 2023-12-25 2024-03-19 山西太重数智科技股份有限公司 Intelligent electric shovel attitude adjusting control system and method

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